SkidBoat: Manual&Acro are working - Loiter,Auto&RTL are not working

ArduRover ArduBoat
1

I have three planes with ArduPlane running, so I’m a little experienced with that.

Now my first ArduBoat is a skid-boat.
With that boat I have the problem, that the more or less manual modes (Manual&Acro) are running good, but the modes with automatic throttle are not running.
If I switch to one of the automatic-throttle modes (Loiter,Auto&RTL), the boat is turning to the desired direction (skid-turn), but it’s not accelerating forward.
On the OSD I can see the direction and the distance to Homepoint, so GPS is working correctly. And there is no error-message on the OSD.

Maybe it’s one parameter I did not set correctly, but I can’t find it.

I have that behaviour with “ardurover4.0.0_OmnibusNanoV6_26.11.2019stable”
and with “ardurover4.1.0dev_OmnibusNanoV6_20.03.2020latest”.
Here are my parameters:
ArduRover-OMNIBUS-4.0.0-(MODE5=AUTO).param (17.9 KB)

And here a short logfile (see Auto-period: 17:27:14…17:27:26):

Can anybody see what’s my mistake?

2

There is a problem with that log file. So this is a Omnibus F4 nano V6 Flight Controller? Just checking because it doesn’t show in the log and there are a few Omnibus FC’s.

Motor Right should be on Servo 3 not 2.

3

All my rovers have their motors connected on servo 1 and 2 (or 1,2,3 and 4). The 1 and 3 thing is something from the past, I thought.

4

Ah OK, makes sense. I suppose it doesn’t matter, whatever its configured for.

5

@count74
Would you send me a parameter-file from your skid-rover (or skid boat if available) for comparison, please.

6

Sure, no problem:

Arduboat40.param (15.9 KB)

7

I wonder with WP_SPEED at 0 and doing a cruise speed learning during the same power cycle did not cause a problem with the speed in AUTO. Looking at the logs, the speed vs des speed, the boats doing what it think it should.

8

Thank you, I’ll try that as soon as possible.

9

For some reason your parameters were not available from the log. The ones I looked at were from the param file you posted. Nothing jumped out at me from the param file. I’ll boot up my boat and send my params in a little while.

10

Oh, I missunderstood. Now I remember that WP_SPEED=0 is a valid option - to use CRUISE_SPEED.
But I will try to change RTL_ ,WP_ and CRUISE_SPEED to 1.6 e.g.

11

Here are my params. It’s currently set up for ackerman steering. It works fine with skid steering and depending on mission I switch back and forth when needed.

2020 April 12th params.param (16.3 KB)

12

Thank you all,
It’s fixed. After the hint of David I tried it in SITL.
The Cruise-Speed-Learning is just learning the CRUISE_SPEED.
If WP_SPEED=0 then there is no movement in AUTO or GUIDED.
If also RTL_SPEED=0 there happens additional no move in RTL.

1 Like
13

In previous versions it would default to CRUISE_SPEED if no WP_SPEED was entered. It may be different now but I’m not sure. I can’t even remember at the moment what code I am using. LOL. :rofl: